daviddoji/Kalman-and-Bayesian-Filters-in-Python
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Changed text to account for chapter reordering.

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UKF and EKF chapters were reordered, and I needed to alter some
text to reflect that.
This commit is contained in:
Roger Labbe 2015-02-13 20:41:38 -08:00
parent 592a354d1f
commit 9c43e01b9e
3 changed files with 143 additions and 177 deletions
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150
09_Nonlinear_Filtering.ipynb
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10_Unscented_Kalman_Filter.ipynb
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code/nonlinear_plots.py
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@ -8,7 +8,6 @@ Created on Sun May 18 11:09:23 2014
from __future__ import division
import numpy as np
import matplotlib.pyplot as plt
from numpy.random import normal
def plot_transfer_func(data, f, lims,num_bins=1000):
@ -16,11 +15,13 @@ def plot_transfer_func(data, f, lims,num_bins=1000):
#plot output
plt.subplot(2,2,1)
plt.hist(ys, num_bins, orientation='horizontal',histtype='step')
plt.hist(ys, num_bins, orientation='horizontal', histtype='step', lw=3)
plt.ylim(lims)
plt.gca().xaxis.set_ticklabels([])
plt.title('output')
plt.axhline(np.mean(ys), ls='--', lw=2)
# plot transfer function
plt.subplot(2,2,2)
x = np.arange(lims[0], lims[1],0.1)
@ -34,9 +35,23 @@ def plot_transfer_func(data, f, lims,num_bins=1000):
# plot input
plt.subplot(2,2,4)
plt.hist(data, num_bins, histtype='step')
plt.hist(data, num_bins, histtype='step', lw=3)
plt.xlim(lims)
plt.gca().yaxis.set_ticklabels([])
plt.title('input')
plt.show()
if __name__ == "__main__":
from numpy.random import normal
import numpy as np
data = normal(loc=0.0, scale=1, size=500000)
def g(x):
return (np.cos(4*(x/2+0.7)))*np.sin(0.3*x)-1.6*x
plot_transfer_func (data, g, lims=(-3,3), num_bins=300)